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DsfbObserver

dsfb::observer

Struct DsfbObserver 

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pub struct DsfbObserver { /* private fields */ }
Expand description

DSFB Observer

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impl DsfbObserver

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pub fn new(params: DsfbParams, channels: usize) -> Self

Create a new DSFB observer

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pub fn init(&mut self, initial_state: DsfbState)

Initialize the state

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pub fn step(&mut self, measurements: &[f64], dt: f64) -> DsfbState

Perform one step of the DSFB algorithm

§Arguments
  • measurements - Measurement vector y_k for each channel
  • dt - Time step
§Returns

The corrected state estimate

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pub fn state(&self) -> DsfbState

Get the current state

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pub fn trust_stats(&self) -> &[TrustStats]

Get trust statistics for all channels

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pub fn trust_weight(&self, channel: usize) -> f64

Get trust weight for a specific channel

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pub fn ema_residual(&self, channel: usize) -> f64

Get EMA residual for a specific channel

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